\section{Conclusion}
Two different approaches to define grasp quality has been evaluated. The CMCCP quality measure shows a clear relation between the success rate and the size of the quality measure. This quality measure would be good for comparison of similar grasps. Unfortunately the quality measure is not related to the force and torque the grasp is able to resist, and the quality measure is very task specific. A wrench space quality measure was also evaluated. The method was modified to better suit the specific gripper and object. This quality measure proved to give somewhat meaningful measures, as there were some relation between the force the grasp was able to resist and the quality measure. Is is however much more computationally expensive, and the wrench space is unfortunately not generic.\\

\noindent The RobWork Simulator was used. Unfortunately it was difficult to get the simulator to give deterministic results when it was fed the same input multiple times in a row. Therefore it is used in a very computationally inefficient way. The method for doing convex hull intersections in practice was not well-documented - at least not for higher dimensional spaces. Mathematica was used as an important tool to understand the method.\\

\noindent To obtain the given results, assumptions was made with respect to the gripper. This reveals that the Grasp Wrench Space has some flaws. The grasp wrench space can to some extent be used to compare different similar grasps to find the best possible grasp. However if one needs to find an actual physical value for how much force a specific grasp can withstand, the grasp wrench space has some drawbacks. More work should be done in order to find a better quality measure that is more generic and is still able to yield results that can be compared to meaningful physical quantities.\\

\noindent Finally a number of reasons for the inconsistency in the results were introduced, namely problems with regard of the contact generation, the contact simulation and the proposal that the Grasp Wrench Space is not a good quality measure for grasps.